An approach for optimization of loading cycles of hydraulic mining excavators

The present paper describes an optimization multi-stage approach for computing the optimal loading cycle of a heavy weight excavator along a predefined trajectory under dynamic constraints such as maximal ensuing forces, accelerations, and maximal allowed hydraulic power. The approach involves the use of splines of 3rd and 5th order for smooth interpolation of the spatial trajectory up to the level of linear and angular accelerations, as well as an SQP optimization routine to find the optimal end-effector motion law along the trajectory, which finally leads to strokes and pressures at the hydraulic actuators as a function of time. The approach can also be extended to other multi-body systems following a predetermined trajectory. The solution scheme can be included in a more general optimization routine aiming to optimize the trajectory itself. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)